CDS 110b: Robust Performance
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This set of lectures reviews modeling of uncertainty and the use of frequency domain techniques for verifying robust stability and performance of control systems. We begin by exploring how observer-based control systems can lead to non-robust behavior in the closed loop and then discuss how to modify the designs to achieve robust performance.
References and Further Reading
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Chapter 12 - Robust Performance.
- Guaranteed margins for LQG regulators, J. Doyle